QPE May09 * SG167 * Dive index * Mission links * Dive 412 * Raw log
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• Previous call tries 1 • 69.75 of 150.00 AH used of 24V (53.50% remains)
• Previous NAKs 0, Timeouts 0 • 38.07 of 100.00 AH used of 10V (61.93% remains)
• Surface angle -67.8 deg, depth 2.63 m • Intended pitch -24.8 deg, speed -13.043 cm/s
• No surface pump (final VBD was 553.40, SM_CC=425)
• GPS1 time: 41 s
• GPS2 time: 13 s • Transponder ping count: 1
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 57 VBD -1.25 - - 141 - - - 2498 - -121.7 -40.03 - 2366 - - - - - - - - - - -
61 3.2 -2.2 7 130 roll -1.25 8.23 0.234 2127 241.3 1.98 0.054 3753 633.8 -121.7 -51.88 - 3989 -31.3 - - - - - - - - - -
176 17.3 -20.1 26 183 done -0.83 0.52 0.165 2275 284.6 1.88 0.021 2429 -704.3 -121.7 - - 3990 - - - - - - - - - - -
522 63.1 -12.3 87 528 roll -1.18 0.28 0.054 2150 -446.4 2.05 0.041 3754 646.3 -121.7 - - 3991 - - - - - - - - - - -
597 75.4 -17.3 100 605 done -0.90 0.38 0.160 2256 278.9 1.83 0.021 2454 -710.4 -121.7 - - 3991 - - - - - - - - - - -
944 116.2 -8.9 161 951 roll -1.30 0.32 0.051 2116 -437.5 1.92 0.022 1094 -708.3 -121.7 - - 3992 - - - - - - - - - - -
965 118.4 -10.6 164 973 done -1.49 0.12 0.077 2058 -483.3 2.05 0.027 2493 682.4 -121.7 - - 3992 - - - - - - - - - - -
1314 171.1 -14.7 225 1321 roll -1.10 0.43 0.168 2175 272.1 1.90 0.038 3755 664.2 -121.7 - - 3994 - - - - - - - - - - -
1350 176.0 -11.9 231 1357 done -1.00 0.17 0.157 2221 270.6 1.75 0.021 2495 -720.0 -121.7 - - 3994 - - - - - - - - - - -
1698 211.1 -11.0 292 1706 roll -1.34 0.28 0.056 2098 -439.3 1.92 0.041 3754 655.7 -121.7 - - 3996 - - - - - - - - - - -
1719 213.6 -11.0 295 1725 done -1.49 - - 2098 - 1.75 0.021 2481 -727.4 -121.7 - - 3995 - - - - - - - - - - -
2066 261.8 -13.5 356 2073 roll -1.28 0.12 0.174 2124 216.7 1.95 0.040 3758 654.9 -121.7 - - 3995 - - - - - - - - - - -
2144 272.0 -11.9 369 2150 done -1.12 0.22 0.162 2185 277.3 1.67 0.021 2549 -724.0 -121.7 - - 3995 - - - - - - - - - - -
2491 309.2 -10.4 423 2495 roll -1.36 0.17 0.064 2104 -476.5 2.03 0.022 1136 -696.1 -121.7 - - 3995 - - - - - - - - - - -
2604 324.1 -12.6 433 2610 done -1.19 0.22 0.162 2158 245.5 2.05 0.028 2507 668.8 -121.7 - - 3996 - - - - - - - - - - -
2937 357.4 -9.9 464 2938 done -1.28 - - 2159 - - - 2508 - -121.7 - - 3996 - - - - - - - - - - -
3256 388.8 -10.4 494 3260 roll -1.50 0.25 0.062 2055 -416.0 2.03 0.022 1102 -692.6 -121.7 - - 3995 - - - - - - - - - - -
3329 399.0 -14.3 500 3337 done -1.24 0.35 0.169 2143 251.4 2.03 0.028 2479 678.3 -121.7 - - 3996 - - - - - - - - - - -
3655 433.9 -9.6 531 3659 roll -1.31 - - 2138 - 1.92 0.043 3754 664.1 -121.7 - - 3995 - - - - - - - - - - -
3706 439.1 -10.3 535 3712 done -1.31 - - 2138 - 1.75 0.022 2504 -714.3 -121.7 - - 3996 - - - - - - - - - - -
4034 470.0 -9.8 566 4039 roll -1.47 0.17 0.067 2065 -429.4 2.00 0.024 1102 -701.0 -121.7 - - 3994 - - - - - - - - - - -
4107 479.4 -13.7 572 4115 done -1.25 0.30 0.169 2140 250.0 2.05 0.029 2484 674.1 -121.7 - - 3994 - - - - - - - - - - -
4433 510.0 -8.9 598 4437 roll -1.44 0.17 0.071 2065 -441.2 2.00 0.023 1114 -685.0 -121.7 - - 3993 - - - - - - - - - - -
4467 513.8 -10.5 599 4472 done -1.28 0.28 0.169 2132 239.3 2.03 0.028 2469 667.5 -121.7 - - 3993 - - - - - - - - - - -
4789 542.9 -9.0 615 4793 roll -1.47 0.17 0.071 2057 -441.2 2.00 0.023 1093 -688.0 -121.7 - - 3991 - - - - - - - - - - -
4817 546.0 -11.4 616 4821 done -1.36 0.20 0.174 2102 225.0 2.03 0.030 2455 670.9 -121.7 - - 3991 - - - - - - - - - - -
5141 580.2 -10.7 632 5145 roll -1.36 - - 2097 - 2.00 0.045 3766 655.5 -121.7 - - 3990 - - - - - - - - - - -
5193 586.7 -12.0 634 5197 done -1.23 0.20 0.166 2151 270.0 1.88 0.023 2445 -702.7 -121.7 - - 3989 - - - - - - - - - - -
5523 616.9 -9.3 650 5527 roll -1.47 0.20 0.067 2068 -415.0 1.95 0.025 1095 -692.3 -121.7 - - 3986 - - - - - - - - - - -
5573 623.2 -11.7 652 5578 done -1.32 0.22 0.168 2119 231.8 2.00 0.031 2433 669.0 -121.7 - - 3986 - - - - - - - - - - -
5898 653.3 -8.7 668 5902 roll -1.47 0.15 0.074 2057 -413.3 2.05 0.046 3763 648.8 -121.7 - - 3984 - - - - - - - - - - -
5914 655.2 -8.8 668 5921 done -1.47 - - 2057 - 1.92 0.024 2409 -705.2 -121.7 - - 3984 - - - - - - - - - - -
6230 690.7 -11.4 684 6234 roll -1.29 0.22 0.183 2122 295.5 1.90 0.025 1096 -691.1 -121.7 - - 3981 - - - - - - - - - - -
6271 695.0 -10.5 685 6277 done -1.34 - - 2122 - 2.03 0.031 2442 663.1 -121.7 - - 3981 - - - - - - - - - - -
6589 726.9 -10.7 701 6593 roll -1.49 0.17 0.071 2049 -429.4 1.98 0.025 1101 -677.3 -121.7 - - 3979 - - - - - - - - - - -
6658 735.9 -13.5 704 6662 done -1.31 0.28 0.177 2116 239.3 1.98 0.032 2410 661.1 -121.7 - - 3979 - - - - - - - - - - -
6987 771.3 -10.3 720 6991 roll -1.45 0.12 0.084 2069 -391.7 2.10 0.048 3761 643.3 -121.7 - - 3976 - - - - - - - - - - -
7150 792.8 -13.4 727 7154 done -1.22 0.30 0.175 2149 266.7 1.98 0.025 2391 -691.9 -121.7 - - 3975 - - - - - - - - - - -
7471 824.0 -9.9 743 7476 roll -1.50 0.22 0.067 2057 -418.2 2.15 0.048 3753 633.5 -121.7 - - 3973 - - - - - - - - - - -
7544 834.3 -14.9 746 7549 done -1.24 0.28 0.173 2146 317.9 1.95 0.025 2428 -679.5 -121.7 - - 3972 - - - - - - - - - - -
7866 866.6 -9.6 762 7871 roll -1.50 0.20 0.070 2062 -420.0 1.92 0.026 1105 -689.1 -121.7 - - 3970 - - - - - - - - - - -
7917 872.7 -13.2 764 7922 done -1.37 0.17 0.176 2102 235.3 1.98 0.035 2412 660.1 -121.7 - - 3970 - - - - - - - - - - -
8245 909.1 -11.3 780 8248 roll -1.37 - - 2098 - 2.10 0.050 3759 641.4 -121.7 - - 3968 - - - - - - - - - - -
8475 938.6 -12.2 790 8479 done -1.27 0.15 0.175 2135 246.7 1.95 0.025 2419 -687.2 -121.7 - - 3966 - - - - - - - - - - -
8804 970.5 -10.1 806 8808 roll -1.38 - - 2135 - 2.12 0.051 3757 631.1 -121.7 - - 3965 - - - - - - - - - - -
8912 982.2 -10.7 810 8919 done -1.43 0.15 0.077 2079 -373.3 1.92 0.025 2426 -693.2 -121.7 - - 3964 - - - - - - - - - - -
8936 end dive: TARGET_DEPTH_EXCEEDED
8936 begin apogee
8943 985.4 10.9 812 9045 done -0.22 1.35 0.168 2464 285.2 - - 2425 - - 93.53 1.371 3532 -4.6 0.348 - - - - - - - - -
9046 end apogee: CONTROL_FINISHED_OK
9046 begin climb
9049 991.1 - 817 9160 done 1.25 1.40 0.066 2951 347.9 - - 2425 - 121.7 103.43 1.353 3036 -4.8 0.368 - - - - - - - - -
9473 969.6 7.9 838 9539 roll 0.75 0.60 0.211 2802 -248.3 2.25 0.030 1021 -624.0 193.1 59.12 1.334 2743 -5.0 0.378 - - - - - - - - -
9597 958.3 10.2 843 9636 done 0.80 - - 2801 - 2.12 0.035 2380 641.0 232.4 34.05 1.297 2584 -4.7 0.362 - - - - - - - - -
9962 921.1 9.5 861 10008 roll 0.86 - - 2803 - 2.12 0.031 1033 -635.4 281.2 40.67 1.309 2384 -4.9 0.363 - - - - - - - - -
10044 912.7 10.2 865 10086 done 1.00 0.20 0.073 2875 360.0 2.10 0.033 2370 636.7 320.3 33.90 1.277 2226 -4.7 0.349 - - - - - - - - -
10398 863.0 14.6 882 10403 roll 0.89 0.17 0.190 2827 -282.4 2.20 0.048 3767 635.0 320.3 - - 2218 - - - - - - - - - - -
10493 847.8 15.6 886 10497 done 0.81 - - 2831 - 2.03 0.024 2399 -673.9 320.3 - - 2217 - - - - - - - - - - -
10816 801.8 14.3 902 10819 roll 0.81 - - 2831 - 2.10 0.034 997 -667.6 320.3 - - 2216 - - - - - - - - - - -
10884 792.3 13.6 905 10888 done 0.88 - - 2831 - 2.10 0.034 2377 657.1 320.3 - - 2215 - - - - - - - - - - -
11219 747.8 12.9 921 11223 roll 0.88 - - 2831 - 2.17 0.051 3764 639.2 322.2 - - 2215 - - - - - - - - - - -
11292 737.0 14.9 924 11296 done 0.78 0.15 0.194 2802 -193.3 2.03 0.023 2370 -686.7 322.2 - - 2215 - - - - - - - - - - -
11619 703.4 9.5 940 11667 roll 0.97 0.17 0.080 2875 429.4 2.28 0.049 3756 607.9 372.3 43.12 1.214 2013 -4.7 0.285 - - - - - - - - -
11751 684.1 16.2 946 11755 done 0.85 0.25 0.186 2818 -228.0 2.03 0.025 2418 -659.1 372.3 - - 2008 - - - - - - - - - - -
12077 640.3 13.6 962 12082 roll 1.01 0.15 0.080 2882 426.7 2.12 0.030 998 -669.8 372.3 - - 2005 - - - - - - - - - - -
12163 627.6 14.5 966 12166 done 1.01 - - 2882 - 2.15 0.032 2404 654.0 372.3 - - 2005 - - - - - - - - - - -
12495 580.1 14.8 982 12499 roll 1.01 - - 2882 - 2.12 0.032 1002 -661.3 372.3 - - 2003 - - - - - - - - - - -
12519 576.6 14.8 983 12523 done 1.01 - - 2882 - 2.12 0.034 2392 655.7 372.3 - - 2003 - - - - - - - - - - -
12852 528.5 14.3 999 12855 roll 1.01 - - 2882 - 2.12 0.048 3755 642.9 372.3 - - 2002 - - - - - - - - - - -
12891 522.4 14.9 1000 12899 done 0.91 0.20 0.189 2840 -210.0 2.03 0.025 2370 -682.3 372.3 - - 2002 - - - - - - - - - - -
13214 482.4 11.8 1022 13236 roll 1.17 0.20 0.072 2922 410.0 2.25 0.048 3761 618.2 389.5 13.98 1.011 1943 -4.2 0.211 - - - - - - - - -
13298 469.4 15.8 1029 13305 done 0.98 0.25 0.186 2866 -224.0 1.95 0.025 2434 -680.5 389.5 - - 1941 - - - - - - - - - - -
13624 428.6 12.5 1060 13638 roll 1.09 - - 2866 - 2.15 0.048 3756 614.9 397.6 8.32 0.903 1911 -3.6 0.179 - - - - - - - - -
13751 411.5 13.2 1071 13755 done 1.09 - - 2873 - 2.00 0.026 2411 -672.5 397.6 - - 1909 - - - - - - - - - - -
14082 372.4 10.9 1102 14116 roll 1.36 0.28 0.066 2984 396.4 2.15 0.047 3755 625.1 427.1 25.92 0.948 1788 -4.7 0.192 - - - - - - - - -
14185 355.7 16.5 1111 14190 done 1.07 0.40 0.199 2892 -230.0 1.95 0.025 2450 -669.2 427.1 - - 1785 - - - - - - - - - - -
14511 311.5 12.1 1141 14528 roll 1.19 0.10 0.097 2929 370.0 2.10 0.049 3762 624.8 439.6 11.30 0.844 1738 -4.2 0.161 - - - - - - - - -
14574 302.8 14.1 1146 14581 done 1.11 0.15 0.186 2902 -180.0 2.03 0.025 2394 -673.9 439.6 - - 1737 - - - - - - - - - - -
14918 264.7 11.7 1205 14943 roll 1.27 0.15 0.081 2962 400.0 2.17 0.046 3765 631.8 458.4 16.62 0.831 1664 -4.4 0.147 - - - - - - - - -
15059 242.8 16.6 1229 15066 done 1.14 0.22 0.190 2914 -218.2 2.08 0.024 2367 -672.1 458.4 - - 1662 - - - - - - - - - - -
15407 200.9 10.3 1290 15442 done 1.42 0.22 0.071 3005 413.6 - - 2363 - 496.0 31.62 0.794 1510 -4.8 0.128 - - - - - - - - -
15783 144.8 17.1 1356 15790 roll 1.35 - - 3005 - 2.20 0.045 3767 638.2 496.0 - - 1505 - - - - - - - - - - -
15843 134.3 16.9 1366 15850 done 1.23 0.28 0.186 2944 -217.9 2.00 0.022 2398 -684.5 496.0 - - 1504 - - - - - - - - - - -
16192 94.9 10.5 1427 16230 roll 1.64 0.32 0.058 3090 456.2 2.08 0.028 1004 -670.2 531.3 29.77 0.691 1362 -4.8 0.069 - - - - - - - - -
16260 83.8 17.3 1438 16266 done 1.46 0.28 0.193 3019 -253.6 2.03 0.028 2350 663.1 531.3 - - 1361 - - - - - - - - - - -
16608 36.5 11.6 1499 16632 roll 1.53 - - 3027 - 2.03 0.028 998 -666.0 551.7 17.12 0.620 1281 -4.7 0.029 - - - - - - - - -
16749 18.5 13.3 1523 16756 done 1.61 0.10 0.091 3069 420.0 1.90 0.026 2280 674.7 551.7 - - 1279 - - - - - - - - - - -
16861 end climb: SURFACE_DEPTH_REACHED
16861 begin surface coast
16887 end surface coast: CONTROL_FINISHED_OK
16887 begin surface
SM 2.64 - - - - -7.50 7.90 0.056 140 -370.8 - - 2487 - 553.40 - - 1276 - - - - - - - -